From e560789e9d1a9024c8f04557b1ed1dd7317ec2cd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 2 Aug 2019 11:33:30 +0200
Subject: [PATCH] Add create() to the macro; rename to WOLF_PROCESSOR_CREATE
---
hello_wolf/processor_range_bearing.cpp | 13 -------
hello_wolf/processor_range_bearing.h | 4 +--
include/core/processor/processor_base.h | 36 ++++++++++++-------
include/core/processor/processor_diff_drive.h | 4 +--
include/core/processor/processor_odom_2D.h | 4 +--
include/core/processor/processor_odom_3D.h | 4 +--
src/processor/processor_diff_drive.cpp | 10 ------
src/processor/processor_odom_2D.cpp | 10 ------
src/processor/processor_odom_3D.cpp | 13 -------
9 files changed, 27 insertions(+), 71 deletions(-)
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index d12fa8b15..37c740b42 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -99,19 +99,6 @@ void ProcessorRangeBearing::processCapture(CaptureBasePtr _capture)
}
-ProcessorBasePtr ProcessorRangeBearing::create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params)
-{
- auto params = std::static_pointer_cast<ProcessorParamsRangeBearing>(_params);
-
- // construct processor
- auto prc = std::make_shared<ProcessorRangeBearing>(params);
-
- // setup processor
- prc->setName(_unique_name);
-
- return prc;
-}
Eigen::Vector2s ProcessorRangeBearing::observe(const Eigen::Vector2s& lmk_w) const
{
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index 475297208..527efd1f6 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -50,9 +50,7 @@ class ProcessorRangeBearing : public ProcessorBase
virtual void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
- static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params);
- WOLF_CREATE_PROCESSOR_AUTO(ProcessorRangeBearing, ProcessorParamsRangeBearing);
+ WOLF_PROCESSOR_CREATE(ProcessorRangeBearing, ProcessorParamsRangeBearing);
protected:
// Implementation of pure virtuals from ProcessorBase
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index da7089c17..fdbd88974 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -28,20 +28,30 @@ namespace wolf {
* In order to use this macro, the derived processor class, ProcessorClass,
* must have a constructor available with the API:
*
- * ProcessorClass(const SensorClassPtr _sensor, const ProcessorParamsClassPtr _params);
+ * ProcessorClass(const ProcessorParamsClassPtr _params);
*/
-#define WOLF_CREATE_PROCESSOR_AUTO(ProcessorClass, ProcessorParamsClass) \
-static ProcessorBasePtr createAutoConf(const std::string& _unique_name, \
- const ParamsServer& _server) \
-{ \
- auto params = std::make_shared<ProcessorParamsClass>(_unique_name, _server); \
- \
- auto processor = std::make_shared<ProcessorClass>(params); \
- \
- processor ->setName(_unique_name); \
- \
- return processor; \
-}
+#define WOLF_PROCESSOR_CREATE(ProcessorClass, ProcessorParamsClass) \
+static ProcessorBasePtr createAutoConf(const std::string& _unique_name, \
+ const ParamsServer& _server) \
+{ \
+ auto params = std::make_shared<ProcessorParamsClass>(_unique_name, _server); \
+ \
+ auto processor = std::make_shared<ProcessorClass>(params); \
+ \
+ processor ->setName(_unique_name); \
+ \
+ return processor; \
+} \
+static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params) \
+{ \
+ auto params = std::static_pointer_cast<ProcessorParamsClass>(_params); \
+ \
+ auto processor = std::make_shared<ProcessorClass>(params); \
+ \
+ processor ->setName(_unique_name); \
+ \
+ return processor; \
+} \
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 297ce7a38..d4aa5a792 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -38,9 +38,7 @@ class ProcessorDiffDrive : public ProcessorOdom2D
virtual void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
- static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params);
- WOLF_CREATE_PROCESSOR_AUTO(ProcessorDiffDrive, ProcessorParamsDiffDrive);
+ WOLF_PROCESSOR_CREATE(ProcessorDiffDrive, ProcessorParamsDiffDrive);
protected:
// Motion integration
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index 9d9c8096a..27d180d43 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -45,9 +45,7 @@ class ProcessorOdom2D : public ProcessorMotion
virtual void configure(SensorBasePtr _sensor) override { };
// Factory method for high level API
- static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params);
- WOLF_CREATE_PROCESSOR_AUTO(ProcessorOdom2D, ProcessorParamsOdom2D);
+ WOLF_PROCESSOR_CREATE(ProcessorOdom2D, ProcessorParamsOdom2D);
virtual bool voteForKeyFrame() override;
diff --git a/include/core/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h
index ce9716032..62128c904 100644
--- a/include/core/processor/processor_odom_3D.h
+++ b/include/core/processor/processor_odom_3D.h
@@ -65,9 +65,7 @@ class ProcessorOdom3D : public ProcessorMotion
virtual void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
- static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params);
- WOLF_CREATE_PROCESSOR_AUTO(ProcessorOdom3D, ProcessorParamsOdom3D);
+ WOLF_PROCESSOR_CREATE(ProcessorOdom3D, ProcessorParamsOdom3D);
public:
// Motion integration
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 07bf75b34..52cf7ebd9 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -31,16 +31,6 @@ ProcessorDiffDrive::~ProcessorDiffDrive()
//
}
-ProcessorBasePtr ProcessorDiffDrive::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
-{
- auto params = std::static_pointer_cast<ProcessorParamsDiffDrive>(_params);
-
- auto prc_ptr = std::make_shared<ProcessorDiffDrive>(params);
-
- prc_ptr->setName(_unique_name);
-
- return prc_ptr;
-}
void ProcessorDiffDrive::configure(SensorBasePtr _sensor)
{
diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp
index e9b7dd34a..25e45242a 100644
--- a/src/processor/processor_odom_2D.cpp
+++ b/src/processor/processor_odom_2D.cpp
@@ -167,16 +167,6 @@ FeatureBasePtr ProcessorOdom2D::emplaceFeature(CaptureMotionPtr _capture_motion)
return key_feature_ptr;
}
-ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
-{
- auto params = std::static_pointer_cast<ProcessorParamsOdom2D>(_params);
-
- auto prc_ptr = std::make_shared<ProcessorOdom2D>(params);
-
- prc_ptr->setName(_unique_name);
-
- return prc_ptr;
-}
} /* namespace wolf */
diff --git a/src/processor/processor_odom_3D.cpp b/src/processor/processor_odom_3D.cpp
index e519b9470..6486554ec 100644
--- a/src/processor/processor_odom_3D.cpp
+++ b/src/processor/processor_odom_3D.cpp
@@ -333,19 +333,6 @@ Motion ProcessorOdom3D::interpolate(const Motion& _ref1,
}
-ProcessorBasePtr ProcessorOdom3D::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
-{
- // cast inputs to the correct type
- auto params = std::static_pointer_cast<ProcessorParamsOdom3D>(_params);
-
- // construct processor
- auto prc_odo = std::make_shared<ProcessorOdom3D>(params);
-
- // setup processor
- prc_odo->setName(_unique_name);
-
- return prc_odo;
-}
bool ProcessorOdom3D::voteForKeyFrame()
{
--
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